Evaluation metrics For category-level pose estimation, we followed [1]}, [2]} using 3D intersection over union (IoU) between the ground truth and estimated 3D bounding box (we used the estimated scale and pose to draw an estimated 3D bounding box) at 25%, 50% and 75% thresholds. Additionally, we used \(5^{\circ }2cm\) , \(5^{\circ }5cm\) , \(10^{\circ }5cm\) , \(10^{\circ }10cm\)  as metrics. The numbers in the metrics represent the percentage of the estimations with errors under such degree and distance. For section REF , we also used separated translation and rotation metrics: \(2cm\) , \(5cm\) , \(10cm\) , \(5^{\circ }\) , \(10^{\circ }\)  that calculate percentage with respect to one factor.
